计算机与数字工程2025，Vol.53Issue(2)：389-394,6.DOI:10.3969/j.issn.1672-9722.2025.02.016
基于解空间裁剪度的多智能体路径规划算法
A Multi-agents Pathfinding Algorithm Based on Solution Space Clipping Degree
摘要
Abstract
Conflict Base Search(CBS)is one of the methods of current multi-agent path planning,and it can be combined with Mutex Propagation(MP)method to improve the performance of searching for conflict-free paths.However,CBS-MP has the problem that it is difficult to accurately distinguish non-cardinal conflicts and semi-cardinal conflicts.To this end,CBS-CMP is proposed.By setting the degree of tailoring of the solution space of different mutex as the heuristic value,the method searches for the path solution with the least influence on the solution space of other agents,and then uses the obtained path solution as the con-straint of other agents,and searches for the path solutions without conflicts.Compared with the existing CBS-MP algorithm,this method not only improves the processing of different collision types,but also further improves the path search performance.The re-sults show that the performance advantage of this method is obvious in the barrier-free environment where non-cardinal conflicts fre-quently occur.关键词
多智能体/路径规划/互斥锁传播/无障碍环境/多值决策图Key words
multi-agents/pathfinding/mutex propagation/barrier-free environment/multi-valued decision diagram分类
信息技术与安全科学引用本文复制引用
岳荣康,龙吟..基于解空间裁剪度的多智能体路径规划算法[J].计算机与数字工程,2025,53(2):389-394,6.基金项目
国家自然科学基金项目(编号:62101467)资助. （编号:62101467）
